YASKAWA SGDV SERVOPACK, Руководство пользователя

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5 Operation
5.9.2 Absolute Data Reception Sequence
5-74
(3) Serial Data Specifications and Initial Incremental Pulses

Serial Data Specifications
The serial data is output from PAO signal.

Initial Incremental Pulses
The initial incremental pulses are output after division inside the SERVOPACK in the same way as for normal
incremental pulses. Refer to
5.3.6 Encoder Output Pulses for details.
(4) Transferring Alarm Contents
If an absolute linear scale is used, the contents of alarms detected by the SERVOPACK are transmitted in
serial data to the host controller from the PAO output when the SEN signal changes from high level to low
level.
Note: The SEN signal cannot be OFF while the servomotor power is ON.

Output example of alarm contents are as shown below.
Data Transfer
Method
Start-stop Synchronization (ASYNC)
Baud rate
9600 bps
Start bits 1 bit
Stop bits 1 bit
Parity
Even
Character code
ASCII 7-bit code
Data format 8 characters, as shown below.
Note 1. The range for absolute data is "P+00000" (CR) or "P-00000" (CR).
2. The serial data range is "-32768" to "+32767". When this range is exceeded, the data
changes from "+32767" to "-32678" or from "-32678" to "+32767".
3. In the case of reverse direction mode (Pn000.0 = 1), the sign reverses.
Data
Start bit Even parity
Movement data
in five digits
"+" or " - "
"0" to "9"
"CR" "P"
Stop bit
0 0 0 0 0 1 0 1 0 1
Linear
“A” “L” “M” “5” “1” “.” “CR”
Low level
High level Error detection
or
Overspeed
Incremental pulse
Serial data
Enlarged view
SEN Signal
Panel Operator
Display
PAO Output
Data format
Upper two digits
Analog